@article{mahler2017dex,
  title={Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics},
  author={Mahler, Jeffrey and Liang, Jacky and Niyaz, Sherdil and Laskey, Michael and Doan, Richard and Liu, Xinyu and Ojea, Juan Aparicio and Goldberg, Ken},
  booktitle={Robotics: Science and Systems (RSS)},
  year={2017}
}